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Marc Toussaint
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Mar 16, 2018
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,85 @@ | ||
| #include "contact.h" | ||
| #include <Gui/opengl.h> | ||
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| double mlr::Contact::getDistance() const{ | ||
| TM_ContactNegDistance map(*this); | ||
| arr y; | ||
| map.phi(y, NoArr, a.K); | ||
| return -y.scalar(); | ||
| } | ||
|
|
||
| TaskMap *mlr::Contact::getTM_ContactNegDistance() const{ | ||
| return new TM_ContactNegDistance(*this); | ||
| } | ||
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| void mlr::TM_ContactNegDistance::phi(arr &y, arr &J, const mlr::KinematicWorld &K, int t){ | ||
| if(C.a_type==2 && C.b_type!=2){ | ||
| HALT("not checked"); | ||
| arr ap,an,bp, Jap, Jan, Jbp; | ||
| K.kinematicsPos(ap, Jap, &C.a, C.a_rel); | ||
| K.kinematicsVec(an, Jan, &C.a, C.a_norm); | ||
| K.kinematicsPos(bp, Jbp, &C.b, C.b_rel); | ||
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| y.resize(1); | ||
| y = scalarProduct(bp-ap, an) - (C.a_rad+C.b_rad); | ||
| y *= -1.; | ||
| if(&J){ | ||
| J = ~(bp-ap)*Jan + ~an*(Jbp-Jap); | ||
| J *= -1.; | ||
| } | ||
| } | ||
| else if(C.b_type==2 && C.a_type!=2){ | ||
| HALT("not checked"); | ||
| arr ap,bn,bp, Jap, Jbn, Jbp; | ||
| K.kinematicsPos(ap, Jap, &C.a, C.a_rel); | ||
| K.kinematicsVec(bn, Jbn, &C.b, C.b_norm); | ||
| K.kinematicsPos(bp, Jbp, &C.b, C.b_rel); | ||
|
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||
| y.resize(1); | ||
| y = scalarProduct(bp-ap, bn) - (C.a_rad+C.b_rad); | ||
| y *= -1.; | ||
| if(&J){ | ||
| J = ~(bp-ap)*Jbn + ~bn*(Jbp-Jap); | ||
| J *= -1.; | ||
| } | ||
| } | ||
| else{ | ||
| arr ap, an, bp, bn, Jap, Jan, Jbp, Jbn; | ||
| K.kinematicsPos(ap, (&J?Jap:NoArr), K.frames(C.a.ID), C.a_rel); | ||
| K.kinematicsVec(an, (&J?Jan:NoArr), K.frames(C.a.ID), C.a_norm); | ||
| K.kinematicsPos(bp, (&J?Jbp:NoArr), K.frames(C.b.ID), C.b_rel); | ||
| K.kinematicsVec(bn, (&J?Jbn:NoArr), K.frames(C.b.ID), C.b_norm); | ||
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| y = ARR( .5*scalarProduct(bp-ap, an-bn) - (C.a_rad+C.b_rad) ); | ||
| y *= -1.; | ||
| if(&J){ | ||
| J = ~(bp-ap)*(Jan-Jbn) + ~(an-bn)*(Jbp-Jap); | ||
| J *= -.5; | ||
| } | ||
| } | ||
| } | ||
|
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||
| #ifdef MLR_GL | ||
| void mlr::Contact::glDraw(OpenGL& gl){ | ||
| mlr::Vector pa = a.X * a_rel; | ||
| mlr::Vector pb = b.X * b_rel; | ||
| mlr::Vector n = .5*((b.X.rot * b_norm) - (a.X.rot * a_norm)); | ||
|
|
||
| glLoadIdentity(); | ||
| glColor(1., 0., 0., 1.); | ||
| glLineWidth(3.f); | ||
| glDrawProxy(pa.getArr(), pb.getArr(), .05, 0, n.getArr(), a_rad, b_rad); | ||
| glLineWidth(2.f); | ||
| glLoadIdentity(); | ||
|
|
||
| // f.pos=.5*(posA+posB); | ||
| // f.getAffineMatrixGL(GLmatrix); | ||
| // glLoadMatrixd(GLmatrix); | ||
| // glDrawText(STRING(a <<'-' <<b <<':' <<d), 0.,0.,0.); | ||
| } | ||
| #endif | ||
|
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||
| void mlr::Contact::write(std::ostream &os) const{ | ||
| os <<a.name <<'-' <<b.name <<" type=" <<a_type <<'-' <<b_type <<" dist=" <<getDistance() <<" pDist=" <<get_pDistance() <<" y=" <<y <<" l=" <<lagrangeParameter; | ||
| } |